TF Buffer Error

Describe the bug
I’m currently attempting to use my intel real sense D435 camera and PX4 Cube pilot with local planner. The error I am experiencing is
[ERROR] [1660062552.700789171]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062552.716710617]: TF Buffer: could not retrieve requested transform from buffer, unregistered

Repeated again and again.

To Reproduce
Steps to reproduce the behavior:

To run PX4 avoidance I have connected a NVidia jetson nano to the cube pilot using an USB to FTDI Cable.

Picture1

I have connected to the Jetson over SSH and am attempting to launch local planner using the instructions provided on PX4/PX4-Avoidance: PX4 avoidance ROS node for obstacle detection and avoidance. (github.com).
The command I am currently using is
roslaunch local_planner avoidance.launch fcu_url:=/dev/ttyUSB4:57600
It is USB4 because I have a sixfab hat connected to the jetson already using the other ports.

Log Files and Screenshots

Currently I am using PX4 firmware version 1.13 and the avoidance master version
Realsense Ros v2.3.2
Librealsense v2.50.0
ROS melodic

frames.pdf

avoidance.launch can be seen here
avoidance.txt

px4_config can be seen here
px4_config.txt

started roslaunch server http://michael-desktop:42637/

SUMMARY

CLEAR PARAMETERS

  • /mavros/

PARAMETERS

  • /camera_main/realsense2_camera/accel_fps: 0
  • /camera_main/realsense2_camera/accel_frame_id: camera_main_accel…
  • /camera_main/realsense2_camera/accel_optical_frame_id: camera_main_accel…
  • /camera_main/realsense2_camera/align_depth: False
  • /camera_main/realsense2_camera/aligned_depth_to_color_frame_id: camera_main_align…
  • /camera_main/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_main_align…
  • /camera_main/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_main_align…
  • /camera_main/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_main_align…
  • /camera_main/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_main_align…
  • /camera_main/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_main_align…
  • /camera_main/realsense2_camera/allow_no_texture_points: False
  • /camera_main/realsense2_camera/base_frame_id: camera_main_link
  • /camera_main/realsense2_camera/calib_odom_file:
  • /camera_main/realsense2_camera/clip_distance: -1.0
  • /camera_main/realsense2_camera/color_fps: 15
  • /camera_main/realsense2_camera/color_frame_id: camera_main_color…
  • /camera_main/realsense2_camera/color_height: 480
  • /camera_main/realsense2_camera/color_optical_frame_id: camera_main_color…
  • /camera_main/realsense2_camera/color_width: 640
  • /camera_main/realsense2_camera/confidence_fps: 30
  • /camera_main/realsense2_camera/confidence_height: 480
  • /camera_main/realsense2_camera/confidence_width: 640
  • /camera_main/realsense2_camera/depth_fps: 30
  • /camera_main/realsense2_camera/depth_frame_id: camera_main_depth…
  • /camera_main/realsense2_camera/depth_height: 480
  • /camera_main/realsense2_camera/depth_optical_frame_id: camera_main_depth…
  • /camera_main/realsense2_camera/depth_width: 640
  • /camera_main/realsense2_camera/device_type:
  • /camera_main/realsense2_camera/enable_accel: False
  • /camera_main/realsense2_camera/enable_color: False
  • /camera_main/realsense2_camera/enable_confidence: True
  • /camera_main/realsense2_camera/enable_depth: True
  • /camera_main/realsense2_camera/enable_fisheye1: False
  • /camera_main/realsense2_camera/enable_fisheye2: False
  • /camera_main/realsense2_camera/enable_fisheye: False
  • /camera_main/realsense2_camera/enable_gyro: False
  • /camera_main/realsense2_camera/enable_infra1: True
  • /camera_main/realsense2_camera/enable_infra2: False
  • /camera_main/realsense2_camera/enable_infra: False
  • /camera_main/realsense2_camera/enable_pointcloud: False
  • /camera_main/realsense2_camera/enable_pose: False
  • /camera_main/realsense2_camera/enable_sync: False
  • /camera_main/realsense2_camera/filters:
  • /camera_main/realsense2_camera/fisheye1_frame_id: camera_main_fishe…
  • /camera_main/realsense2_camera/fisheye1_optical_frame_id: camera_main_fishe…
  • /camera_main/realsense2_camera/fisheye2_frame_id: camera_main_fishe…
  • /camera_main/realsense2_camera/fisheye2_optical_frame_id: camera_main_fishe…
  • /camera_main/realsense2_camera/fisheye_fps: 30
  • /camera_main/realsense2_camera/fisheye_frame_id: camera_main_fishe…
  • /camera_main/realsense2_camera/fisheye_height: 0
  • /camera_main/realsense2_camera/fisheye_optical_frame_id: camera_main_fishe…
  • /camera_main/realsense2_camera/fisheye_width: 0
  • /camera_main/realsense2_camera/gyro_fps: 0
  • /camera_main/realsense2_camera/gyro_frame_id: camera_main_gyro_…
  • /camera_main/realsense2_camera/gyro_optical_frame_id: camera_main_gyro_…
  • /camera_main/realsense2_camera/imu_optical_frame_id: camera_main_imu_o…
  • /camera_main/realsense2_camera/infra1_frame_id: camera_main_infra…
  • /camera_main/realsense2_camera/infra1_optical_frame_id: camera_main_infra…
  • /camera_main/realsense2_camera/infra2_frame_id: camera_main_infra…
  • /camera_main/realsense2_camera/infra2_optical_frame_id: camera_main_infra…
  • /camera_main/realsense2_camera/infra_fps: 15
  • /camera_main/realsense2_camera/infra_height: 480
  • /camera_main/realsense2_camera/infra_rgb: False
  • /camera_main/realsense2_camera/infra_width: 640
  • /camera_main/realsense2_camera/initial_reset: False
  • /camera_main/realsense2_camera/json_file_path: /home/sixfab/catk…
  • /camera_main/realsense2_camera/linear_accel_cov: 0.01
  • /camera_main/realsense2_camera/odom_frame_id: camera_main_odom_…
  • /camera_main/realsense2_camera/ordered_pc: False
  • /camera_main/realsense2_camera/pointcloud_texture_index: 0
  • /camera_main/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
  • /camera_main/realsense2_camera/pose_frame_id: camera_main_pose_…
  • /camera_main/realsense2_camera/pose_optical_frame_id: camera_main_pose_…
  • /camera_main/realsense2_camera/publish_odom_tf: True
  • /camera_main/realsense2_camera/publish_tf: True
  • /camera_main/realsense2_camera/reconnect_timeout: 6.0
  • /camera_main/realsense2_camera/rosbag_filename:
  • /camera_main/realsense2_camera/serial_no: 938422076992
  • /camera_main/realsense2_camera/stereo_module/exposure/1: 7500
  • /camera_main/realsense2_camera/stereo_module/exposure/2: 1
  • /camera_main/realsense2_camera/stereo_module/gain/1: 16
  • /camera_main/realsense2_camera/stereo_module/gain/2: 16
  • /camera_main/realsense2_camera/tf_publish_rate: 0.0
  • /camera_main/realsense2_camera/topic_odom_in: camera_main/odom_in
  • /camera_main/realsense2_camera/unite_imu_method: none
  • /camera_main/realsense2_camera/usb_port_id:
  • /camera_main/realsense2_camera/wait_for_device_timeout: -1.0
  • /local_planner_node/goal_x_param: 0
  • /local_planner_node/goal_y_param: 0
  • /local_planner_node/goal_z_param: 4
  • /local_planner_node/pointcloud_topics: ['/camera_main/de…
  • /mavros/cmd/use_comp_id_system_control: False
  • /mavros/conn/heartbeat_rate: 1.0
  • /mavros/conn/system_time_rate: 1.0
  • /mavros/conn/timeout: 10.0
  • /mavros/conn/timesync_rate: 10.0
  • /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
  • /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
  • /mavros/distance_sensor/hrlv_ez4_pub/id: 0
  • /mavros/distance_sensor/hrlv_ez4_pub/orientation: ROLL_180
  • /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
  • /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
  • /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
  • /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
  • /mavros/distance_sensor/laser_1_sub/id: 3
  • /mavros/distance_sensor/laser_1_sub/orientation: ROLL_180
  • /mavros/distance_sensor/laser_1_sub/subscriber: True
  • /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
  • /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
  • /mavros/distance_sensor/lidarlite_pub/id: 1
  • /mavros/distance_sensor/lidarlite_pub/orientation: ROLL_180
  • /mavros/distance_sensor/lidarlite_pub/send_tf: True
  • /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
  • /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
  • /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
  • /mavros/distance_sensor/sonar_1_sub/id: 2
  • /mavros/distance_sensor/sonar_1_sub/orientation: ROLL_180
  • /mavros/distance_sensor/sonar_1_sub/subscriber: True
  • /mavros/fcu_protocol: v2.0
  • /mavros/fcu_url: /dev/ttyUSB4:57600
  • /mavros/gcs_url:
  • /mavros/global_position/frame_id: fcu
  • /mavros/global_position/rot_covariance: 99999.0
  • /mavros/global_position/tf/child_frame_id: fcu_utm
  • /mavros/global_position/tf/frame_id: local_origin
  • /mavros/global_position/tf/send: True
  • /mavros/image/frame_id: px4flow
  • /mavros/imu/angular_velocity_stdev: 0.0003490659 // 0…
  • /mavros/imu/frame_id: fcu
  • /mavros/imu/linear_acceleration_stdev: 0.0003
  • /mavros/imu/magnetic_stdev: 0.0
  • /mavros/imu/orientation_stdev: 1.0
  • /mavros/local_position/frame_id: local_origin
  • /mavros/local_position/tf/child_frame_id: fcu
  • /mavros/local_position/tf/frame_id: local_origin
  • /mavros/local_position/tf/send: True
  • /mavros/local_position/tf/send_fcu: True
  • /mavros/mission/pull_after_gcs: True
  • /mavros/mocap/use_pose: False
  • /mavros/mocap/use_tf: True
  • /mavros/odometry/fcu/odom_child_id_des: base_link
  • /mavros/odometry/fcu/odom_parent_id_des: map
  • /mavros/plugin_blacklist: [‘safety_area’, '…
  • /mavros/plugin_whitelist: []
  • /mavros/px4flow/frame_id: px4flow
  • /mavros/px4flow/ranger_fov: 0.118682
  • /mavros/px4flow/ranger_max_range: 5.0
  • /mavros/px4flow/ranger_min_range: 0.3
  • /mavros/safety_area/p1/x: 1.0
  • /mavros/safety_area/p1/y: 1.0
  • /mavros/safety_area/p1/z: 1.0
  • /mavros/safety_area/p2/x: -1.0
  • /mavros/safety_area/p2/y: -1.0
  • /mavros/safety_area/p2/z: -1.0
  • /mavros/setpoint_accel/send_force: False
  • /mavros/setpoint_attitude/reverse_throttle: False
  • /mavros/setpoint_attitude/tf/child_frame_id: attitude
  • /mavros/setpoint_attitude/tf/frame_id: local_origin
  • /mavros/setpoint_attitude/tf/listen: False
  • /mavros/setpoint_attitude/tf/rate_limit: 10.0
  • /mavros/setpoint_position/tf/child_frame_id: setpoint
  • /mavros/setpoint_position/tf/frame_id: local_origin
  • /mavros/setpoint_position/tf/listen: False
  • /mavros/setpoint_position/tf/rate_limit: 50.0
  • /mavros/startup_px4_usb_quirk: True
  • /mavros/sys/disable_diag: False
  • /mavros/sys/min_voltage: 10.0
  • /mavros/target_component_id: 1
  • /mavros/target_system_id: 1
  • /mavros/tdr_radio/low_rssi: 40
  • /mavros/time/time_ref_source: fcu
  • /mavros/time/timesync_avg_alpha: 0.6
  • /mavros/vibration/frame_id: vibration
  • /mavros/vision_pose/tf/child_frame_id: vision
  • /mavros/vision_pose/tf/frame_id: local_origin
  • /mavros/vision_pose/tf/listen: False
  • /mavros/vision_pose/tf/rate_limit: 10.0
  • /mavros/vision_speed/listen_twist: False
  • /rosdistro: melodic
  • /rosversion: 1.14.13

NODES
/
drop_camera_main_depth (topic_tools/drop)
drop_camera_main_ir (topic_tools/drop)
dynparam (dynamic_reconfigure/dynparam)
local_planner_node (local_planner/local_planner_node)
mavros (mavros/mavros_node)
tf_camera_main (tf/static_transform_publisher)
/camera_main/
points_xyz_sw_registered (nodelet/nodelet)
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [32493]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 5e9359d0-1800-11ed-b2c1-cac311e4558e
process[rosout-1]: started with pid [32533]
started core service [/rosout]
process[mavros-2]: started with pid [32576]
[ INFO] [1660062543.820368136]: FCU URL: /dev/ttyUSB4:57600
[ INFO] [1660062543.838914286]: serial0: device: /dev/ttyUSB4 @ 57600 bps
[ INFO] [1660062543.842341420]: GCS bridge disabled
[ INFO] [1660062543.882886847]: Plugin 3dr_radio loaded
[ INFO] [1660062543.892104295]: Plugin 3dr_radio initialized
[ INFO] [1660062543.893143092]: Plugin actuator_control loaded
[ INFO] [1660062543.909980155]: Plugin actuator_control initialized
[ INFO] [1660062543.925024585]: Plugin adsb loaded
[ INFO] [1660062543.942133900]: Plugin adsb initialized
[ INFO] [1660062543.943290827]: Plugin altitude loaded
[ INFO] [1660062543.951269782]: Plugin altitude initialized
[ INFO] [1660062543.952404572]: Plugin cam_imu_sync loaded
[ INFO] [1660062543.958224627]: Plugin cam_imu_sync initialized
[ INFO] [1660062543.959394993]: Plugin camera loaded
[ INFO] [1660062543.968165962]: Plugin camera initialized
[ INFO] [1660062543.968903235]: Plugin command loaded
[ INFO] [1660062544.000914109]: Plugin command initialized
[ INFO] [1660062544.002167290]: Plugin companion_process_status loaded
[ INFO] [1660062544.083267413]: Plugin companion_process_status initialized
[ INFO] [1660062544.083580657]: Plugin debug_value loaded
[ INFO] [1660062544.123371413]: Plugin debug_value initialized
[ INFO] [1660062544.123489595]: Plugin distance_sensor blacklisted
[ INFO] [1660062544.123764452]: Plugin esc_status loaded
[ INFO] [1660062544.130928525]: Plugin esc_status initialized
[ INFO] [1660062544.131219320]: Plugin esc_telemetry loaded
[ INFO] [1660062544.135465137]: Plugin esc_telemetry initialized
[ INFO] [1660062544.135870051]: Plugin fake_gps loaded
[ INFO] [1660062544.195352061]: Plugin fake_gps initialized
[ INFO] [1660062544.195751038]: Plugin ftp loaded
[ INFO] [1660062544.240823126]: Plugin ftp initialized
[ INFO] [1660062544.241231634]: Plugin geofence loaded
[ INFO] [1660062544.259559077]: Plugin geofence initialized
[ INFO] [1660062544.259979200]: Plugin global_position loaded
process[tf_camera_main-3]: started with pid [32580]
[ INFO] [1660062544.385788583]: Plugin global_position initialized
[ INFO] [1660062544.386973428]: Plugin gps_input loaded
[ INFO] [1660062544.399953025]: Plugin gps_input initialized
[ INFO] [1660062544.400266737]: Plugin gps_rtk loaded
[ INFO] [1660062544.440234481]: Plugin gps_rtk initialized
[ INFO] [1660062544.440568558]: Plugin gps_status loaded
[ INFO] [1660062544.459023194]: Plugin gps_status initialized
[ INFO] [1660062544.460268042]: Plugin hil loaded
[ INFO] [1660062544.522349285]: Plugin hil initialized
[ INFO] [1660062544.523589341]: Plugin home_position loaded
[ INFO] [1660062544.543649049]: Plugin home_position initialized
[ INFO] [1660062544.544850406]: Plugin imu loaded
[ INFO] [1660062544.582063285]: Plugin imu initialized
[ INFO] [1660062544.583219587]: Plugin landing_target loaded
[ INFO] [1660062544.635932542]: Plugin landing_target initialized
[ INFO] [1660062544.637113898]: Plugin local_position loaded
[ INFO] [1660062544.673446685]: Plugin local_position initialized
[ INFO] [1660062544.673766439]: Plugin log_transfer loaded
[ INFO] [1660062544.688705864]: Plugin log_transfer initialized
[ INFO] [1660062544.689034160]: Plugin mag_calibration_status loaded
[ INFO] [1660062544.694775097]: Plugin mag_calibration_status initialized
[ INFO] [1660062544.695138603]: Plugin manual_control loaded
[ INFO] [1660062544.712273492]: Plugin manual_control initialized
[ INFO] [1660062544.712588246]: Plugin mocap_pose_estimate loaded
[ INFO] [1660062544.729173787]: Plugin mocap_pose_estimate initialized
[ INFO] [1660062544.729618182]: Plugin mount_control loaded
[ INFO] [1660062544.747679206]: Plugin mount_control initialized
[ INFO] [1660062544.748533307]: Plugin nav_controller_output loaded
[ INFO] [1660062544.751364321]: Plugin nav_controller_output initialized
[ INFO] [1660062544.751670897]: Plugin obstacle_distance loaded
[ INFO] [1660062544.771954053]: Plugin obstacle_distance initialized
[ INFO] [1660062544.772265473]: Plugin odom loaded
[ INFO] [1660062544.790581822]: Plugin odom initialized
[ INFO] [1660062544.791365138]: Plugin onboard_computer_status loaded
[ INFO] [1660062544.805713287]: Plugin onboard_computer_status initialized
[ INFO] [1660062544.806175651]: Plugin param loaded
[ INFO] [1660062544.818999720]: Plugin param initialized
[ INFO] [1660062544.819370050]: Plugin play_tune loaded
[ INFO] [1660062544.836781409]: Plugin play_tune initialized
[ INFO] [1660062544.837099236]: Plugin px4flow loaded
[ INFO] [1660062544.874343784]: Plugin px4flow initialized
[ INFO] [1660062544.875205229]: Plugin rallypoint loaded
[ INFO] [1660062544.889532699]: Plugin rallypoint initialized
[ INFO] [1660062544.889677237]: Plugin rangefinder blacklisted
[ INFO] [1660062544.889977146]: Plugin rc_io loaded
[ INFO] [1660062544.904841412]: Plugin rc_io initialized
[ INFO] [1660062544.904996627]: Plugin safety_area blacklisted
[ INFO] [1660062544.905306797]: Plugin setpoint_accel loaded
[ INFO] [1660062544.919449936]: Plugin setpoint_accel initialized
[ INFO] [1660062544.919845631]: Plugin setpoint_attitude loaded
[ INFO] [1660062544.957247686]: Plugin setpoint_attitude initialized
[ INFO] [1660062544.957683331]: Plugin setpoint_position loaded
process[camera_main/realsense2_camera_manager-4]: started with pid [302]
[ INFO] [1660062545.125452576]: Initializing nodelet with 4 worker threads.
[ INFO] [1660062545.170517737]: Plugin setpoint_position initialized
[ INFO] [1660062545.170939892]: Plugin setpoint_raw loaded
[ WARN] [1660062545.253051673]: thrust_scaling parameter is unset. Attitude (and angular rate/thrust) setpoints will be ignored.
[ INFO] [1660062545.254174485]: Plugin setpoint_raw initialized
[ INFO] [1660062545.254571378]: Plugin setpoint_trajectory loaded
[ INFO] [1660062545.280304259]: Plugin setpoint_trajectory initialized
[ INFO] [1660062545.281575931]: Plugin setpoint_velocity loaded
[ INFO] [1660062545.310079041]: Plugin setpoint_velocity initialized
[ INFO] [1660062545.310489581]: Plugin sys_status loaded
[ INFO] [1660062545.351675712]: Plugin sys_status initialized
[ INFO] [1660062545.352058125]: Plugin sys_time loaded
[ INFO] [1660062545.375858679]: TM: Timesync mode: MAVLINK
[ INFO] [1660062545.378102687]: TM: Not publishing sim time
[ INFO] [1660062545.383974150]: Plugin sys_time initialized
[ INFO] [1660062545.384309582]: Plugin terrain loaded
[ INFO] [1660062545.387948444]: Plugin terrain initialized
[ INFO] [1660062545.388278198]: Plugin trajectory loaded
[ INFO] [1660062545.411736602]: Plugin trajectory initialized
[ INFO] [1660062545.412069638]: Plugin tunnel loaded
[ INFO] [1660062545.432254768]: Plugin tunnel initialized
[ INFO] [1660062545.432633900]: Plugin vfr_hud loaded
[ INFO] [1660062545.439551192]: Plugin vfr_hud initialized
[ INFO] [1660062545.439682187]: Plugin vibration blacklisted
[ INFO] [1660062545.439947459]: Plugin vision_pose_estimate loaded
[ INFO] [1660062545.472715294]: Plugin vision_pose_estimate initialized
[ INFO] [1660062545.473546113]: Plugin vision_speed_estimate loaded
[ INFO] [1660062545.488257298]: Plugin vision_speed_estimate initialized
[ INFO] [1660062545.488629398]: Plugin waypoint loaded
[ INFO] [1660062545.507125494]: Plugin waypoint initialized
[ INFO] [1660062545.507720990]: Plugin wheel_odometry blacklisted
[ INFO] [1660062545.508043817]: Plugin wind_estimation loaded
[ INFO] [1660062545.511900918]: Plugin wind_estimation initialized
[ INFO] [1660062545.512171868]: Autostarting mavlink via USB on PX4
[ INFO] [1660062545.512278800]: Built-in SIMD instructions: ARM NEON
[ INFO] [1660062545.512357553]: Built-in MAVLink package version: 2022.3.3
[ INFO] [1660062545.512429588]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1660062545.512507612]: MAVROS started. MY ID 1.240, TARGET ID 1.1
process[camera_main/realsense2_camera-5]: started with pid [605]
[ INFO] [1660062546.151923003]: RealSense ROS v2.3.2
[ INFO] [1660062546.154127113]: Built with LibRealSense v2.50.0
[ INFO] [1660062546.156021157]: Running with LibRealSense v2.50.0
[ INFO] [1660062546.244475828]:
[ INFO] [1660062546.257444904]: Device with serial number 938422076992 was found.

[ INFO] [1660062546.257547669]: Device with physical ID /sys/devices/70090000.xusb/usb2/2-1/2-1.4/2-1.4:1.0/video4linux/video0 was found.
[ INFO] [1660062546.257599181]: Device with name Intel RealSense D435 was found.
[ INFO] [1660062546.259237849]: Device with port number 2-1.4 was found.
[ INFO] [1660062546.259784801]: Device USB type: 3.2
[ INFO] [1660062546.270422990]: getParameters…
process[camera_main/points_xyz_sw_registered-6]: started with pid [846]
process[drop_camera_main_depth-7]: started with pid [953]
process[drop_camera_main_ir-8]: started with pid [1049]
[ INFO] [1660062548.358786277]: setupDevice…
[ INFO] [1660062548.720993820]: JSON file is loaded! (/home/sixfab/catkin_ws/src/PX4-Avoidance/local_planner/resource/stereo_calib.json)
[ INFO] [1660062548.722007980]: ROS Node Namespace: camera_main
[ INFO] [1660062548.722351016]: Device Name: Intel RealSense D435
[ INFO] [1660062548.723482317]: Device Serial No: 938422076992
[ INFO] [1660062548.723925150]: Device physical port: /sys/devices/70090000.xusb/usb2/2-1/2-1.4/2-1.4:1.0/video4linux/video0
[ INFO] [1660062548.724265530]: Device FW version: 05.13.00.50
[ INFO] [1660062548.724904361]: Device Product ID: 0x0B07
[ INFO] [1660062548.726675847]: Enable PointCloud: Off
[ INFO] [1660062548.727114252]: Align Depth: Off
[ INFO] [1660062548.727851942]: Sync Mode: Off
[ INFO] [1660062548.728301754]: Device Sensors:
[ INFO] [1660062548.736047364]: Stereo Module was found.
process[dynparam-9]: started with pid [1200]
[ INFO] [1660062548.784578512]: RGB Camera was found.
[ INFO] [1660062548.784734196]: (Confidence, 0) sensor isn’t supported by current device! – Skipping…
[ INFO] [1660062548.784836024]: num_filters: 0
[ INFO] [1660062548.784905037]: Setting Dynamic reconfig parameters.
[ WARN] [1660062549.110504781]: Param ‘/camera_main/rgb_camera/power_line_frequency’ has value 3 that is not in the enum { {50Hz: 1} {60Hz: 2} {Disabled: 0} }. Removing this parameter from dynamic reconfigure options.
[ INFO] [1660062549.134554355]: Done Setting Dynamic reconfig parameters.
[ INFO] [1660062549.136643877]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1660062549.140464570]: infra1 stream is enabled - width: 640, height: 480, fps: 15, Format: Y8
[ INFO] [1660062549.142286787]: setupPublishers…
[ INFO] [1660062549.159642987]: Expected frequency for depth = 30.00000
[ INFO] [1660062549.181482826]: Expected frequency for infra1 = 15.00000
[ INFO] [1660062549.204653403]: setupStreams…
[ INFO] [1660062549.295352859]: SELECTED BASE:Depth, 0
[ WARN] [1660062549.378283840]:
[ INFO] [1660062549.439705933]: RealSense Node Is Up!
process[local_planner_node-10]: started with pid [1233]
[ INFO] [1660062549.661772253]: Initializing nodelet with 4 worker threads.
[ERROR] [1660062550.811455564]: PR: Unknown parameter to get: MPC_ACC_HOR
[ERROR] [1660062550.823305890]: PR: Unknown parameter to get: MPC_ACC_DOWN_MAX
[ERROR] [1660062550.831665747]: PR: Unknown parameter to get: MPC_ACC_UP_MAX
[ERROR] [1660062550.845937067]: PR: Unknown parameter to get: MPC_XY_CRUISE
[ERROR] [1660062550.857003452]: PR: Unknown parameter to get: MPC_Z_VEL_MAX_DN
[ERROR] [1660062550.865318618]: PR: Unknown parameter to get: MPC_Z_VEL_MAX_UP
[ERROR] [1660062550.872254348]: PR: Unknown parameter to get: CP_DIST
[ERROR] [1660062550.879760051]: PR: Unknown parameter to get: MPC_LAND_SPEED
[ERROR] [1660062550.889658310]: PR: Unknown parameter to get: MPC_JERK_MAX
[ERROR] [1660062550.899009982]: PR: Unknown parameter to get: NAV_ACC_RAD
[ERROR] [1660062550.910957447]: PR: Unknown parameter to get: MPC_YAWRAUTO_MAX
advertised as /camera_main/depth/image_rect_raw_drop
advertised as /camera_main/infra1/image_rect_raw_drop
[dynparam-9] process has finished cleanly
log file: /home/sixfab/.ros/log/5e9359d0-1800-11ed-b2c1-cac311e4558e/dynparam-9*.log
[ERROR] [1660062552.700789171]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062552.915929752]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062552.921487971]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062552.927237137]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062552.931420294]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062552.936466980]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062552.941596325]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062552.946709993]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062552.951844339]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062552.956963216]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062552.962083603]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062552.967384154]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062552.972415162]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062552.977662013]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062552.982987774]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062552.988254730]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062552.994136089]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062552.999288509]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062553.004425876]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062553.009553815]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062553.014689463]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062553.019838601]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062553.026528642]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062553.031548869]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062553.036718372]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062553.041984287]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062553.051134751]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062553.056327693]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062553.061449018]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062553.068991232]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062553.071940636]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062553.077080503]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062553.084584956]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062553.089480124]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062553.094608324]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062553.099711992]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062553.104879881]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062553.110003757]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062553.115164511]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062553.120386308]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062553.125515133]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062553.130620415]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1660062553.292990856]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[drop_camera_main_depth-7] killing on exit
[mavros-2] killing on exit
[camera_main/realsense2_camera-5] killing on exit
[drop_camera_main_ir-8] killing on exit
[camera_main/points_xyz_sw_registered-6] killing on exit
[camera_main/realsense2_camera_manager-4] killing on exit
[tf_camera_main-3] killing on exit
terminate called after throwing an instance of ‘boost::exception_detail::clone_impl<boost::exception_detail::error_info_injectorboost::lock_error >’
what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor…
… shutting down processing monitor complete
done